ArduPilot飞控之Gazebo

很简单希望伴机电脑上天之前先进行相关验证工作而验证工作希望透过一个测试环境。

LTS的笔记本Laptop环境尽管电脑是10年前的老电脑但是还是基本可以用的。

ArduPilot飞控之ubuntu22.04-Gazebo模拟ArduPilot飞控之ubuntu22.04-SITL安装ArduPilot飞控之Mission

Planner模拟

需要大量GPU来做视频/图像分析希望能模拟3D飞行环境搭建相对完整环境奠定基础

(MP

Orin系统安装这里就不再展开需要了解的朋友可以详细参考《Linux

36.2Jetson

upgrade比如有的时候会出现一些依赖问题或者多余的安装包请使用以下指令进行清理。

sudo

https://packages.osrfoundation.org/gazebo.gpg

/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg

echo

signed-by/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg]

http://packages.osrfoundation.org/gazebo/ubuntu-stable

$(lsb_release

/etc/apt/sources.list.d/gazebo-stable.list

/dev/null

gitgithub.com:ArduPilot/ardupilot_gazebo.git

ardupilot_gazebo

-DCMAKE_BUILD_TYPERelWithDebInfo

make

GZ_SIM_SYSTEM_PLUGIN_PATHardupilot_gazebo

path/build:$GZ_SIM_SYSTEM_PLUGIN_PATH

export

GZ_SIM_RESOURCE_PATHardupilot_gazebo

path/models:$HOME/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH

echo

GZ_SIM_SYSTEM_PLUGIN_PATH$HOME/ardupilot_gazebo/build:${GZ_SIM_SYSTEM_PLUGIN_PATH}

~/.bashrc

GZ_SIM_RESOURCE_PATH$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:${GZ_SIM_RESOURCE_PATH}

~/.bashrc3.4

gitgithub.com:SnapDragonfly/ardupilot.git

git

b4407356a9193069c7f48b9dfed8785504968fca

(HEAD

Tools/environment_install/install-prereqs-ubuntu.sh

-y4.3

--custom-location30.218788,120.092316,281,905.

测试运行

--custom-location30.3051391,120.1556749,8.71000003814697,90MissionPlanner

TCP端口5763

Orin上的Map地图和MissionPlanner组合叠加显示

Jetson

整体来看效果不错后面看看能否将3D环境也加进来后续可以模拟障碍物中飞行。

参考资料

【5】PX4开发环境搭建–模拟器编译及QGroundControl

RC遥控模拟配置